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* Software License Agreement (BSD License)
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*  Author: Joel Cartwright
*
*********************************************************************/

#include <iostream>
#include <iomanip>

#include <ros/ros.h>
#include <rosgraph_msgs/Clock.h>

// ---------------------------------------------------------------------------
void handleClockMsg(rosgraph_msgs::ClockConstPtr msg)
{
	// Output wall time together with received time.
	ros::WallTime timeNow = ros::WallTime::now();
	std::cout << std::setw(1) << timeNow.sec << "."
			<< std::fixed << std::setw(9) << std::setfill('0') << timeNow.nsec
			<< ", "
			<< std::setw(1) << msg->clock.sec << "."
			<< std::fixed << std::setw(9) << std::setfill('0') << msg->clock.nsec
			<< std::endl;
}

// ---------------------------------------------------------------------------
int main(int argc, char **argv)
{
	ros::init(argc, argv, "log_clock");
	ros::NodeHandle node;

	ros::Subscriber clockSub = node.subscribe<rosgraph_msgs::Clock>("/clock", 50, handleClockMsg);

	ros::spin();

	return 0;
}
